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<div class="title">camera.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_SIMULATION_CAMERA_HPP_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_SIMULATION_CAMERA_HPP_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keyword">namespace </span>simulation</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  {</div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_camera.html">   14</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1simulation_1_1_camera.html">Camera</a></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    {</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;Camera&gt; Ptr;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const Camera&gt; ConstPtr;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      <a class="code" href="classpcl_1_1simulation_1_1_camera.html">Camera</a> () : x_ (0), y_ (0), z_ (0), roll_ (0), pitch_ (0), yaw_ (0)</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        updatePose ();</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        initializeCameraParameters ();</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      }</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <a class="code" href="classpcl_1_1simulation_1_1_camera.html">Camera</a> (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z,</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;              <span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw) : x_ (x),</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                                                       y_ (y),</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                                                       z_ (z),</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                                                       roll_ (roll),</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                                                       pitch_ (pitch),</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                                                       yaw_ (yaw)</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      {</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        updatePose ();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        initializeCameraParameters ();</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      setParameters (<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height,</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                     <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                     <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                     <span class="keywordtype">float</span> z_near, <span class="keywordtype">float</span> z_far);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      Eigen::Matrix4f</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      getProjectionMatrix () { <span class="keywordflow">return</span> projection_matrix_; }</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keywordtype">double</span> getX ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> x_; }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keywordtype">void</span> setX (<span class="keywordtype">double</span> x) { x_ = x; updatePose (); }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      <span class="keywordtype">double</span> getY ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> y_; }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keywordtype">void</span> setY (<span class="keywordtype">double</span> y) { y_ = y; updatePose(); }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keywordtype">double</span> getZ ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> z_; }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keywordtype">void</span> setZ (<span class="keywordtype">double</span> z) { z_ = z; updatePose(); }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      getRoll ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> roll_; }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      setRoll (<span class="keywordtype">double</span> roll) { roll_ = roll; updatePose (); }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      getPitch()<span class="keyword"> const </span>{<span class="keywordflow">return</span> pitch_;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      setPitch(<span class="keywordtype">double</span> pitch) { pitch_ = pitch; updatePose (); }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      getYaw ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> yaw_; }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      setYaw (<span class="keywordtype">double</span> yaw) { yaw_ = yaw; updatePose (); }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      Eigen::Isometry3d</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      getPose ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> pose_; }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">void</span> set (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z, <span class="keywordtype">double</span> roll, <span class="keywordtype">double</span> pitch, <span class="keywordtype">double</span> yaw)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        x_ = x; y_ = y; z_ = z;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        roll_ = roll; pitch_ = pitch; yaw_ = yaw;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        updatePose();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keywordtype">void</span> move (<span class="keywordtype">double</span> vx, <span class="keywordtype">double</span> vy, <span class="keywordtype">double</span> vz);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">// Return the pose of the camera:</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      Eigen::Vector3d getYPR ()</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">return</span> Eigen::Vector3d (yaw_, pitch_, roll_);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      updatePose ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      initializeCameraParameters ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      updateProjectionMatrix ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">double</span> x_,y_,z_;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordtype">double</span> roll_,pitch_,yaw_;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      Eigen::Isometry3d pose_;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="comment">// Camera Intrinsic Parameters</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">int</span> width_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordtype">int</span> height_;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keywordtype">float</span> fx_;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">float</span> fy_;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">float</span> cx_;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordtype">float</span> cy_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="comment">// min and max range of the camera</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">float</span> z_near_;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">float</span> z_far_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      Eigen::Matrix4f projection_matrix_;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    };</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  } <span class="comment">// namespace - simulation</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;} <span class="comment">// namespace - pcl</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_SIMULATION_CAMERA_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_camera_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_camera.html">pcl::simulation::Camera</a></div><div class="ttdef"><b>Definition:</b> camera.h:15</div></div>
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